#ifndef __CONTROL_H
#define __CONTROL_H

#include "stm32f4xx.h"
float Velocity_FeedbackControl_1(int TargetVelocity, int CurrentVelocity);
float Velocity_FeedbackControl_2(int TargetVelocity, int CurrentVelocity);
int Servo_FeedbackControl(int TargetTrack, int CurrentTrack);
void EncoderRead_TIM7(u16 arr, u16 psc);
void Control_Motor_PWM(void);
void Control_Servor_Angle(void);

int FILTER_1(int TargetVelocity, int Encoder);
int FILTER_2(int TargetVelocity, int Encoder);
#endif